Trajectory tracking control of emergency supplies transport robots based on fuzzy MPC

'Contactless' distribution plays an important role in emergency supplies transportation, and the trajectory tracking control of transport robots is key technology to achieving 'contactless' precision. In this paper, a method for was proposed based on fuzzy MPC. Firstly, kinematic model established, motion parameters were identified by recursive least square algorithm. Secondly, aiming at velocity problem robots, optimize error dynamically. Thirdly, predictive theory introduced, expanded state observer designed total disturbances robots. Finally, simulation built Simulink, performance controller verified co-simulation using CarSim/ Simulink. The results show that, compared with classical MPC controller, optimized improves operational stability accuracy 13.18%.